Course: Kinematics of Robots

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Course title Kinematics of Robots
Course code UAI/791
Organizational form of instruction Lecture + Lesson
Level of course Bachelor
Year of study not specified
Frequency of the course In each academic year, in the winter semester.
Semester Winter
Number of ECTS credits 4
Language of instruction Czech
Status of course Compulsory
Form of instruction Face-to-face
Work placements This is not an internship
Recommended optional programme components None
  • Pech Jiří, Mgr. Ph.D.
Course content
1. Complex and dual numbers 2. Extension of complex numbers to quaternions 3. Dual quaternions 4. Kinematics in space 5. Direct and indirect congruencies 6. Basic movements in space - translation, rotation, screw motion 7. Serial robots, manipulators 8. Parallel robots, platforms 9. Direct and back kinematics 10. Kinematics of serial robots 11. Kinematics of parallel robots

Learning activities and teaching methods
Monologic (reading, lecture, briefing), Laboratory
  • Class attendance - 42 hours per semester
  • Preparation for classes - 40 hours per semester
  • Preparation for exam - 18 hours per semester
Learning outcomes
Throughout the course, students familiarize with data structures that are used to describe movement of robots in space. Later, basics of spatial kinematics - direct and indirect congruency and basic types of movements in space - are talked over. Differences between direct and back kinematics of robots are explained. Terms parallel and serial robot are defined and than the calculation of direct and back kinematics for both groups of robots is presented.
Student learns the basic knowledge of kinematic of the robots. Direct and back kinematic an differential kinematic. He gets knowledge about any math structure as are quaternion and dual numbers.
The course lead into problematic of kinematic of the robots. It is recommended knowledge of Linear algebra (matrix calculus) Analysis (partials derivative) and Geometry (Euclid space)

Assessment methods and criteria
Oral examination, Interim evaluation

Active participation in seminars (80%) Working-out task. Passing the written test.
Recommended literature
  • HUSTY, M., KARGER, A., SACHS, H., STEINHILPER, W.Kinematik und Robotik. Berlin, Heidelberg: Springer Berlin Heidelberg, 1997. ISBN 978-364-2590-290.
  • KARGER, Adolf. Základy robotiky a prostorové kinematiky. 1. vyd. Praha: Vydavatelství ČVUT, 2000, 265 s. ISBN 80-010-2183-1.

Study plans that include the course
Faculty Study plan (Version) Category of Branch/Specialization Recommended year of study Recommended semester
Faculty: Faculty of Science Study plan (Version): Applied Informatics (1) Category: Informatics courses - Recommended year of study:-, Recommended semester: Winter